Mechanism for opening U-shaped bottom shell

Abstract

The utility model relates to a mechanism for opening a U-shaped bottom shell. The mechanism comprises a U-shaped shell feeding and conveying unit, a U-shaped shell transplanting unit, a U-shaped shell opening unit and a U-shaped shell sliding-out unit. The U-shaped shell feeding and conveying unit is used for conveying a workpiece of a previous procedure to a transplanting position, and a U-shaped shell is subjected to profiling positioning treatment at the transplanting position; the U-shaped shell transplanting unit is used for grabbing the processed bottom shell from the U-shaped shell feeding line and transplanting the processed bottom shell to the U-shaped shell opening unit, and U-shaped bottom shell positioning opening, visual addressing and module shell entering operation can be conveniently carried out in the next procedure. The U-shaped shell opening unit is used for carrying out secondary centering positioning, bottom sucking and fixing and side edge outward supporting on the U-shaped shell; and the U-shaped shell sliding-out unit is used for sliding the treated U-shaped shell materials out of an operation station, and a manipulator can conveniently grab the U-shaped shell materials for shell assembling and welding in the next procedure. Compared with the prior art, safe and accurate opening is achieved through cooperation of all the components, and the device is high in flexibility, stable, reliable and high in safety.

Description

Technical Field

[0001] The utility model relates to the technical field of power batteries, in particular to a mechanism for opening a U-shaped bottom shell. Background Art

[0002] At present, in the field of power batteries, the stacked battery cell units need to be assembled with end side plates into finished modules. To ensure the welding quality of the shell, it is necessary to strictly guarantee the assembly gap and positioning accuracy of the end side plates. If there is a slight carelessness, it will cause poor lap joint of the end side plates, and then waste products will be generated after the module end side plates are welded. In order to reduce the poor assembly and welding of the shell, 3D vision inspection of the assembly gap is introduced, and complex tooling is used to control the pressure and displacement of the end side plates, and the application of wire filling welding at the lap joint part. For the control of the entire process, a lot of cost investment is increased.

[0003] Under this background, some battery manufacturers change their ideas. A U-shaped bottom shell is introduced, and the module is placed into the U-shaped bottom shell. Then, when assembling the shell, there is no need to consider the influence of the side plates on the assembly accuracy. At the same time, the lap joint welding is changed to laser deep penetration welding. For the control of the entire process, not much cost investment is required, the yield rate is improved, and the manufacturing difficulty is reduced.

[0004] At present, there are two conventional methods for placing the module into the U-shaped shell. One is to extrude the module, and then invert the U-shaped shell on the module to complete the shell insertion. The characteristic of this method is that the tooling gripper not only needs to position and open the U-shaped bottom shell, but also needs a large downward pressure to press the bottom shell into the module. The spatial structure of the gripper is complex, and the visual addressing link is prone to deviation in the width direction of the module.

[0005] The second is to open the U-shaped shell, and press the extruded module into the shell from directly above. The characteristic of this method is that the lower tooling only needs to position and open the U-shaped shell, and the upper gripper is responsible for pressing the module into the opened bottom shell. And it is relatively easy to perform visual addressing on the U-shaped shell, and the process control is relatively easy to achieve.

[0006] Patent CN201620843557.6 discloses an anti-deformation fixture for assembling and welding the end side plates of an electrolytic cell, including a template, a rib plate and a support foot pad. The template is a U-shaped plate formed by bending both ends of a rectangular plate, and the bending part is arc-shaped. The outer wall surface of the template is matched with the inner wall of the corresponding processed end side plate. A rib plate is arranged inside the template, and a plurality of support foot pads are arranged on the grounding surface at the lower end of the rib plate. However, the accuracy is low and the safety is low. Summary of the Utility Model

[0007] The purpose of the utility model is to provide a mechanism for opening the U-shaped bottom shell in order to overcome the defects of the above-mentioned prior art. Through the cooperation of various components, safe and accurate opening is achieved. It is highly flexible and compatible with the positioning and opening of U-shaped shells of different sizes. Stable and reliable: the utility model uses an electric cylinder as a power source to facilitate the adjustment of the opening angle and the speed of movement. A connecting rod mechanism is used for centering and clamping. High safety: Since the opening angle of the bottom shell in the utility model is adjustable, it is convenient for debugging. The external support mechanism uses an independent inlet and outlet cylinder unit to prevent jamming. The sliding position is set with limited position protection to prevent insufficient rebound due to excessive opening.

[0008] The purpose of this utility model can be achieved through the following technical solutions:

[0009] The utility model provides a mechanism for opening a U-shaped bottom shell, comprising: a U-shaped shell feeding and conveying unit, a U-shaped shell transplanting unit, a U-shaped shell opening unit, and a U-shaped shell sliding unit which are arranged in sequence;

[0010] The U-shaped shell feeding and conveying unit is used to convey the workpiece after plasma cleaning, gluing and CCD visual inspection in the previous process to the transfer position, and the U-shaped shell is subjected to profiling and positioning processing at the transfer position;

[0011] The U-shaped shell transfer unit is used to grab the processed bottom shell from the U-shaped shell feeding line and transfer it to the U-shaped shell opening unit, so as to facilitate the subsequent process of positioning, opening, visual addressing and module shelling of the U-shaped bottom shell;

[0012] The U-shaped shell opening unit is used to perform secondary centering, bottom suction fixation, and side support on the U-shaped shell; the external support angle is servo-driven and controlled, and the angle is adjustable; the side clamping mechanism of the U-shaped shell opening unit adopts an independent actuator to enter and exit to prevent the mechanism from exiting and getting stuck. The U-shaped shell opening unit includes: an opening unit length limiting element, an opening unit width limiting element, an opening unit U-shaped shell bottom suction element, an external support element, and an opening unit servo electric cylinder; the U-shaped shell opening unit constrains the product's Y-direction freedom through the opening unit length limiting element, constrains the product's X-direction freedom through the opening unit width limiting element, constrains the product's Z-direction freedom through the opening unit U-shaped shell bottom suction element, and drives the connecting rod through the opening unit servo electric cylinder, so that the external support element can open the product along the X-direction at a preset angle; the opening unit width limiting element adopts a connecting rod structure for centering, and the servo mechanism controls the opening angle.

[0013] The U-shaped shell slide-out unit is used to slide the processed U-shaped shell material out of the working position, so as to facilitate the subsequent process robot to grab it for shell assembly and welding.

[0014] The utility model mechanism is easy to integrate into the automated workstation and reliably reduces the difficulty of module insertion.

[0015] Further, the U-shaped shell loading and conveying unit includes: a conveying frame, a guide rail, and a stepping element; the guide rail and the stepping element are both installed on the conveying frame, the stepping element is above the guide rail in the Z direction, and the stepping element lifts the product in the Z direction and moves along the guide rail in the X direction to place the product at the transplanting position. The position of the limit block can be adjusted to be compatible with U-shaped bottom shells of different sizes; the spacing of the stepping elements can be adjusted so that the U-shaped shell loading and conveying unit can buffer more product materials.

[0016] Further, the stepping element includes a servo electric cylinder and a connecting rod, and the stepping element lifts the bottom shell for reciprocating forward transfer.

[0017] Further, the U-shaped shell transplanting unit includes: a transplanting frame, a transplanting unit servo module, a transplanting unit drag chain, and a transplanting gripper;

[0018] The transplanting unit servo module is installed on the transplanting frame and can move in the Y direction. The transplanting gripper can hold the workpiece and perform up-and-down picking and placing movements in the Z direction; one end of the transplanting unit drag chain is installed on the transplanting frame, and the other end of the transplanting unit drag chain is installed on the transplanting gripper; the transplanting gripper is installed at the end of the transplanting unit servo module, and the transplanting gripper slides along with the transplanting unit servo module in the Y direction; the transplanting gripper is integrated with a guide rail and a cylinder unit, which can drive the product to move in the Z direction. The transplanting gripper adopts a connecting rod structure and centrally positions and clamps the U-shaped bottom shell.

[0019] Further, the U-shaped shell sliding-out unit includes: a sliding table, a tray, a sliding-out unit electric cylinder, a sliding-out unit drag chain, and a sliding-out unit tray stopper;

[0020] The tray of the U-shaped shell sliding-out unit is connected to the sliding table through a guide rail, and the tray is driven by the sliding-out unit electric cylinder to move along the X direction.

[0021] Further, one end of the sliding-out unit drag chain is connected to the sliding table support, and the other end of the sliding-out unit drag chain is connected to the end bracket of the tray; after the sliding table slides horizontally in the X direction to the position, the sliding-out unit tray stopper pops out in the Z direction to prevent the tray from shifting caused by the action of the U-shaped shell opening unit.

[0022] Further, a gripper clamping element is provided on the guide rail. The two side supports of the gripper clamping element are installed on the guide rail, and the gripper clamping element is connected to the actuating cylinder through a connecting rod element, so that the two clamping elements can centrally and symmetrically clamp the workpiece, and the workpiece is clamped by four groups of clamping cylinders.

[0023] Further, the U-shaped shell opening unit is installed on the tray of the U-shaped shell sliding-out unit; the opening unit length limiting element includes two flipping cylinder units; the opening unit width limiting element is connected to the tray through a slider, and the U-shaped shell bottom suction element of the opening unit achieves centering and positioning of the bottom shell; the outer support element is integrated on the width positioning device support, and the width positioning device is connected to the opening unit servo cylinder through a connecting rod; after the product is positioned, the outer support element clamps the side of the U-shaped shell and moves in the X direction (the width direction of the U-shaped shell) to achieve the purpose of outer support of the U-shaped shell; the outer support mechanism includes six sets of telescopic cylinder units.

[0024] Further, the outer support element is connected to the tray through a width positioning support, the width positioning support is connected to the opening unit servo cylinder through a connecting rod unit, and the opening unit servo cylinder drives the connecting rod, thereby driving the width positioning support to slide, which can be compatible with U-shaped bottom shell units of different sizes; the U-shaped shell bottom suction element of the opening unit sucks and fixes the U-shaped shell through four suction cups to prevent the product from slipping during the outer support process on the side.

[0025] One end of the width positioning support is provided with a buffer limiter to prevent the servo unit from driving the product to be over-expanded and causing damage to the product.

[0026] Further, the bottom support unit of the U-shaped shell opening unit is connected to the tray through waist-shaped hole bolts, which is convenient to adjust the suction position of the suction cup according to the actual situation on site.

[0027] Working principle:

[0028] S1: The U-shaped shell unit processed in the previous process is lifted and transplanted to the support frame through a stepping element. The support support performs profiling and positioning on the U-shaped bottom shell.

[0029] S2: The U-shaped shell transplanting unit centrally and symmetrically clamps the U-shaped bottom shell and is transplanted into the U-shaped shell opening unit through the transplanting unit servo module. The central clamping unit can ensure reliable grasping of both sides of the U-shaped shell.

[0030] S3: The U-shaped shell opening unit centrally positions the U-shaped shell, the bottom suction cup sucks the bottom surface of the bottom shell, the outer support element clamps the side of the bottom shell, and the opening unit servo cylinder symmetrically and evenly opens the bottom shell to both sides.

[0031] S4: The U-shaped shell sliding-out unit is driven by the sliding-out unit electric cylinder to move the U-shaped shell out to the picking position.

[0032] The positioning and expansion of the U-shaped shell of the present utility model are both realized by a servo mechanism + a connecting rod mechanism, which can achieve centering positioning, symmetric opening, and the opening and closing angle can be servo-adjusted.

[0033] For the U-shaped shell outer support mechanism of the present utility model, independent inlet and outlet mechanisms (cylinders + guide rails) are adopted on both sides of the bottom shell, ensuring that the mechanism can reliably withdraw from the workpiece before and after shell insertion.

[0034] Compared with the prior art, the present utility model has the following advantages:

[0035] (1) The U-shaped bottom shell opening mechanism of the present utility model can complete the centering positioning, symmetric expansion, adjustable opening and closing angle, and independent inlet and outlet of the U-shaped bottom shell. The technical effects of this solution are achieved through the cooperation of various components; among them, the U-shaped shell feeding and conveying unit is responsible for step-by-step transferring the bottom shell of the previous process to the support picking and placing position; the U-shaped shell transplanting unit centrally clamps the bottom shell and places it into the opening mechanism; the U-shaped shell opening unit performs centering positioning on the bottom shell and then symmetrically expands it to facilitate the subsequent process module to enter the box; the U-shaped shell sliding-out unit is responsible for removing the module after shell insertion from the work station.

[0036] (2) High flexibility: Since the component system of the equipment is modular, by changing different limit blocks or adjusting the servo stroke, it is compatible with the positioning and expansion of U-shaped shells of different sizes.

[0037] (3) Stable and reliable: In the present utility model, an electric cylinder is used as the power source, which is convenient for adjusting the opening angle and action speed. A link mechanism is adopted for centering positioning and clamping.

[0038] (4) High safety: Since the opening angle of the bottom shell in the present utility model is adjustable, it is convenient for debugging. The outer support mechanism adopts an independent inlet and outlet cylinder unit to prevent jamming. A limit protection is set on the sliding position to prevent insufficient rebound caused by excessive opening.

[0039] (5) Convenient for maintenance: Since the main actuating mechanism uses cylinder positioning and slider guidance, and the end connecting plate is deformed and worn by bending moment during use, the end bracket can be quickly disassembled and replaced by bolts without replacing the entire actuating mechanism. Description of the Drawings

[0040] Figure 1 It is a general schematic diagram of the U-shaped bottom shell opening mechanism;

[0041] Figure 2 It is a schematic diagram of the U-shaped shell feeding and conveying unit;

[0042] Figure 3 It is a schematic diagram of the U-shaped shell transplanting unit;

[0043] Figure 4 It is a schematic diagram of the U-shaped shell opening unit;

[0044] Figure 5 It is a schematic diagram of the U-shaped shell sliding-out unit.

[0045] Reference numerals: 100, U-shaped shell feeding and conveying unit; 200, U-shaped shell transplanting unit; 300, U-shaped shell opening unit; 400, U-shaped shell sliding unit;

[0046] 01, conveyor rack; 02, guide rail; 03, stepping element;

[0047] 21. Transplanting rack; 22. Transplanting unit servo module; 23. Transplanting unit drag chain; 24. Transplanting gripper;

[0048] 31. Length limit element of the opening unit; 32. Width limit element of the opening unit; 33. Suction element at the bottom of the U-shaped shell of the opening unit; 34. External support element; 35. Servo cylinder of the opening unit;

[0049] 41, slide; 42, pallet; 43, slide-out unit electric cylinder; 44, slide-out unit drag chain; 45, slide-out unit pallet stopper. Specific implementation method

[0050] The following is a detailed description of the utility model in conjunction with the accompanying drawings and specific embodiments. If the component model, material name, connection structure, control method, algorithm and other features not clearly described in this technical solution are regarded as common technical features disclosed in the prior art.

[0051] Example 1

[0052] This embodiment provides a mechanism for opening the U-shaped bottom shell, such as Figure 1 As shown in , it comprises: a U-shaped shell feeding and conveying unit 100, a U-shaped shell transplanting unit 200, a U-shaped shell opening unit 300, and a U-shaped shell sliding unit 400 which are arranged in sequence;

[0053] If Figure 2 As shown in FIG. 1 , the U-shaped shell feeding and conveying unit 100 is used to convey the workpiece after plasma cleaning, gluing, and CCD visual inspection in the previous process to the transfer position, and the U-shaped shell is subjected to profiling and positioning processing at the transfer position;

[0054] If Figure 3 As shown in FIG. 1 , the U-shaped shell transfer unit 200 is used to grab the processed bottom shell from the U-shaped shell feeding line and transfer it to the U-shaped shell opening unit 300, so as to facilitate the subsequent process of positioning and opening the U-shaped bottom shell, visual addressing, and module shelling operations;

[0055] If Figure 4 ​​​​As shown, the U-shaped shell opening unit 300 is used to perform secondary centering, bottom suction fixation, and side support on the U-shaped shell; the support angle is servo-driven and adjustable; the side clamping mechanism of the U-shaped shell opening unit 300 adopts an independent actuator to enter and exit to prevent the mechanism from exiting and getting stuck. The U-shaped shell opening unit 300 includes: an opening unit length limiting element 31, an opening unit width limiting element 32, an opening unit U-shaped shell bottom suction element 33, an external support element 34, and an opening unit servo electric cylinder 35; the U-shaped shell opening unit 300 constrains the product's Y-direction freedom through the opening unit length limiting element 31, constrains the product's X-direction freedom through the opening unit width limiting element 32, constrains the product's Z-direction freedom through the opening unit U-shaped shell bottom suction element 33, and drives the connecting rod through the opening unit servo electric cylinder 35, so that the external support element 34 can open the product along the X direction at a preset angle; the opening unit width limiting element 32 adopts a connecting rod structure for centering, and the servo mechanism controls the opening angle.

[0056] If Figure 5 As shown in FIG. 1 , the U-shaped shell slide-out unit 400 is used to slide the processed U-shaped shell material out of the working position, so as to facilitate the subsequent process robot to grab it for shell assembly and welding.

[0057] The utility model mechanism is easy to integrate into the automated workstation and reliably reduces the difficulty of module insertion.

[0058] In a specific implementation, the U-shaped shell loading and conveying unit 100 includes: a conveying frame 01, a guide rail 02, and a stepping element 03; the guide rail 02 and the stepping element 03 are both installed on the conveying frame 01, and the stepping element 03 is upward in the Z direction of the guide rail. The stepping element 03 lifts the product in the Z direction and moves along the X direction of the guide rail 02 to place the product in the transfer position. The position of the limit block can be adjusted to accommodate U-shaped bottom shell materials of different sizes; the spacing of the stepping element 03 can be adjusted so that the U-shaped shell loading and conveying unit 100 can buffer more product materials.

[0059] In a specific implementation, the stepping element 03 includes a servo electric cylinder and a connecting rod, and the stepping element 03 lifts the bottom shell to reciprocate forward.

[0060] In a specific implementation, the U-shaped shell transplanting unit 200 includes: a transplanting frame 21, a transplanting unit servo module 22, a transplanting unit drag chain 23, and a transplanting gripper 24;

[0061] ​​The servo module 22 of the transplanting unit is installed on the transplanting frame 21 and can move in the Y direction. The transplanting gripper 24 can hold the workpiece and perform the up-and-down picking and placing movement in the Z direction. One end of the drag chain 23 of the transplanting unit is installed on the transplanting frame 21, and the other end of the drag chain 23 of the transplanting unit is installed on the transplanting gripper 24. The transplanting gripper 24 is installed at the end of the servo module 22 of the transplanting unit, and the transplanting gripper 24 slides in the Y direction following the servo module 22 of the transplanting unit. The transplanting gripper 24 is integrated with a guide rail and a cylinder unit, which can drive the product to move in the Z direction. The transplanting gripper 24 adopts a connecting rod structure and centrally positions and clamps the U-shaped bottom shell.

[0062] In a specific embodiment, the U-shaped shell sliding-out unit 400 includes: a slide table 41, a tray 42, a sliding-out unit electric cylinder 43, a sliding-out unit drag chain 44, and a sliding-out unit tray stopper 45.

[0063] The tray 42 of the U-shaped shell sliding-out unit 400 is connected to the slide table 41 through a guide rail 02 and is driven by the sliding-out unit electric cylinder 43 to move along the X direction.

[0064] In a specific embodiment, one end of the sliding-out unit drag chain 44 is connected to the support of the slide table 41, and the other end of the sliding-out unit drag chain 44 is connected to the end bracket of the tray 42. After the slide table 41 slides horizontally in place in the X direction, the sliding-out unit tray stopper 45 pops out in the Z direction to prevent the tray 42 from shifting caused by the action of the U-shaped shell opening unit 300.

[0065] In a specific embodiment, a gripper clamping element is provided on the guide rail 02. The two side supports of the gripper clamping element are installed on the guide rail 02, and the gripper clamping element is connected to the actuating cylinder through a connecting rod element, so that the two clamping elements can centrally and symmetrically clamp the workpiece, and the workpiece is clamped by four groups of clamping cylinders.

[0066] In a specific embodiment, the U-shaped shell opening unit 300 is installed on the tray 42 of the U-shaped shell sliding-out unit 400. The opening unit length limiting element 31 includes two flipping cylinder units. The opening unit width limiting element 32 is connected to the tray 42 through a slider. The opening unit U-shaped shell bottom sucking element 33 realizes centering and positioning of the bottom shell. The outer support element 34 is integrated on the width positioning device support, and the width positioning device is connected to the opening unit servo electric cylinder 35 through a connecting rod. After the product is positioned, the outer support element 34 clamps the side of the U-shaped shell and moves in the X direction (the width direction of the U-shaped shell) to achieve the purpose of outer support of the U-shaped shell. The outer support mechanism includes six groups of telescopic cylinder units.

[0067] In a specific embodiment, the outer support element 34 is connected to the tray 42 through a width positioning support. The width positioning support is connected to the opening unit servo cylinder 35 through a connecting rod unit. The opening unit servo cylinder 35 drives the connecting rod, and then drives the width positioning support to slide, which can be compatible with U-shaped bottom shell units of different sizes; the U-shaped shell bottom suction element 33 of the opening unit sucks and fixes the U-shaped shell through four groups of suction cups to prevent the product from slipping during the side outer support process;

[0068] One end of the width positioning support is provided with a buffer limiter to prevent the servo unit from driving the product to be over-expanded and causing damage to the product.

[0069] In a specific embodiment, the bottom support unit of the U-shaped shell opening unit 300 is connected to the tray 42 by bolts through waist-shaped holes, which is convenient to adjust the suction position of the suction cup according to the actual situation on site.

[0070] Working principle:

[0071] S1: The U-shaped shell unit processed in the previous process is lifted and transplanted to the support frame through the stepping element 03. The support support performs profiling positioning on the U-shaped bottom shell;

[0072] S2: The U-shaped shell transplanting unit 200 centrally and symmetrically clamps the U-shaped bottom shell and is transplanted into the U-shaped shell opening unit 300 through the transplanting unit servo module 22. The central clamping unit can ensure reliable grasping of both sides of the U-shaped shell.

[0073] S3: The U-shaped shell opening unit 300 centrally positions the U-shaped shell. The bottom suction cup sucks the bottom surface of the bottom shell, and the outer support element 34 clamps the side of the bottom shell, and symmetrically and evenly opens the bottom shell to both sides through the opening unit servo cylinder 35.

[0074] S4: The U-shaped shell sliding-out unit 400 is driven by the sliding-out unit cylinder 43 to move the U-shaped shell out to the picking position.

[0075] For the positioning and expansion of the U-shaped shell of the present utility model, a servo mechanism + connecting rod mechanism is adopted, which can achieve central positioning, symmetrical opening, and the opening and closing angles can be adjusted servo.

[0076] For the U-shaped shell outer support mechanism of the present utility model, independent inlet and outlet mechanisms (cylinder + guide rail) are adopted for both the inlet and outlet of the side of the bottom shell to ensure that the mechanism can reliably withdraw from the workpiece before and after entering the shell.

[0077] The components not elaborated in this embodiment are all existing components that can be purchased through public channels.

[0078] The above description of the embodiments is to enable those of ordinary skill in the art to understand and use the utility model. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present utility model is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art without departing from the scope of the present utility model according to the disclosure of the present utility model should be within the protection scope of the present utility model.

Claims

1. A mechanism for opening a U-shaped bottom shell, characterized in that: include: A U-shaped shell loading and conveying unit (100), a U-shaped shell transplanting unit (200), a U-shaped shell opening unit (300), and a U-shaped shell sliding-out unit (400) are arranged in sequence; The U-shaped shell loading and conveying unit (100) is used to convey the workpiece after the previous process of plasma cleaning, gluing, and CCD visual inspection to the transfer position, and the U-shaped shell is subjected to profiling and positioning processing at the transfer position; The U-shaped shell transfer unit (200) is used to grab the processed bottom shell from the U-shaped shell loading line and transfer it to the U-shaped shell opening unit (300), so as to facilitate the subsequent process of positioning, opening, visual addressing and module shelling operations of the U-shaped bottom shell; The U-shaped shell opening unit (300) is used to perform secondary centering positioning, bottom suction fixing, and side external support on the U-shaped shell; the U-shaped shell opening unit (300) comprises: an opening unit length limiting element (31), an opening unit width limiting element (32), an opening unit U-shaped shell bottom suction element (33), an external support element (34), and an opening unit servo electric cylinder (35); the U-shaped shell opening unit (300) constrains the product's Y-direction degree of freedom through the opening unit length limiting element (31), constrains the product's X-direction degree of freedom through the opening unit width limiting element (32), constrains the product's Z-direction degree of freedom through the opening unit U-shaped shell bottom suction element (33), and drives the connecting rod through the opening unit servo electric cylinder (35), thereby enabling the external support element (34) to open the product along the X direction at a preset angle; The U-shaped shell sliding unit (400) is used to slide the processed U-shaped shell material out of the working position, so as to facilitate the subsequent process robot to grab it for shell assembly and welding.

2. A mechanism for opening a U-shaped bottom shell according to claim 1, characterized in that: The U-shaped shell loading and conveying unit (100) comprises: a conveying frame (01), a guide rail (02), and a stepping element (03); the guide rail (02) and the stepping element (03) are both installed on the conveying frame (01), and the stepping element (03) is located above the guide rail in the Z direction. The stepping element (03) lifts the product in the Z direction and moves along the guide rail (02) in the X direction to place the product in a transfer position.

3. A mechanism for opening a U-shaped bottom shell according to claim 2, characterized in that: The stepping element (03) comprises a servo electric cylinder and a connecting rod, and the stepping element (03) lifts the bottom shell to perform a reciprocating forward flow.

4. A mechanism for opening a U-shaped bottom shell according to claim 1, characterized in that: The U-shaped shell transplanting unit (200) comprises: a transplanting frame (21), a transplanting unit servo module (22), a transplanting unit drag chain (23), and a transplanting gripper (24); The transplanting unit servo module (22) is installed on the transplanting frame (21) and can move in the Y direction. The transplanting gripper (24) can hold the workpiece and can perform upward and downward movement in the Z direction. One end of the transplanting unit drag chain (23) is installed on the transplanting frame (21), and the other end of the transplanting unit drag chain (23) is installed on the transplanting gripper (24). The transplanting gripper (24) is installed at the end of the transplanting unit servo module (22), and the transplanting gripper (24) slides in the Y direction following the transplanting unit servo module (22). The transplanting gripper (24) is integrated with a guide rail and a cylinder unit, and can drive the product to move in the Z direction.

5. The mechanism for opening a U-shaped bottom shell according to claim 1, characterized in that: The U-shaped shell slide-out unit (400) comprises: a slide table (41), a tray (42), a slide-out unit electric cylinder (43), a slide-out unit drag chain (44), and a slide-out unit tray stopper (45); The tray (42) of the U-shaped shell slide-out unit (400) is connected to the slide table (41) through the guide rail (02), and the tray (42) is driven by the slide-out unit electric cylinder (43) to move along the X direction.

6. A mechanism for opening a U-shaped bottom shell according to claim 5, characterized in that: One end of the slide-out unit drag chain (44) is connected to a support of the slide table (41), and the other end of the slide-out unit drag chain (44) is connected to an end bracket of the tray (42); after the slide table (41) slides horizontally in the X direction to a position, the slide-out unit tray stopper (45) is pushed out in the Z direction to prevent the U-shaped shell opening unit (300) from causing the tray (42) to shift.

7. A mechanism for opening a U-shaped bottom shell according to claim 2, characterized in that: The guide rail (02) is provided with a gripper clamping element, and the two side supports of the gripper clamping element are installed on the guide rail (02), and the gripper clamping element is connected to the actuator cylinder through a connecting rod element, so that the clamping elements on both sides can clamp the workpiece symmetrically in the center, and the workpiece is clamped by four groups of clamping cylinders.

8. The mechanism for opening a U-shaped bottom shell according to claim 1, characterized in that: The U-shaped shell opening unit (300) is installed on the tray (42) of the U-shaped shell sliding unit (400); the opening unit length limiting element (31) includes two flip cylinder units; the opening unit width limiting element (32) is connected to the tray (42) through a slider, and the opening unit U-shaped shell bottom suction element (33) realizes the center positioning of the bottom shell; the external support element (34) is integrated on the width positioning device support, and the width positioning device is connected to the opening unit servo electric cylinder (35) through a connecting rod; when the product is positioned, the external support element (34) clamps the side of the U-shaped shell and moves in the X direction to achieve the purpose of external support of the U-shaped shell; the external support mechanism includes six groups of telescopic cylinder units.

9. A mechanism for opening a U-shaped bottom shell according to claim 8, characterized in that: The external support element (34) is connected to the tray (42) via a width positioning support, and the width positioning support is connected to the opening unit servo electric cylinder (35) via a connecting rod unit. The opening unit servo electric cylinder (35) drives the connecting rod, thereby driving the width positioning support to slide, and can be compatible with U-shaped bottom shell units of different sizes; the U-shaped shell bottom suction element (33) of the opening unit sucks and fixes the U-shaped shell through four groups of suction cups to prevent the product from slipping during the side external support process; A buffer limiter is provided at one end of the width positioning support to prevent the servo unit from driving the product to support excessively, thereby causing damage to the product.

10. The mechanism for opening a U-shaped bottom shell according to claim 1, characterized in that: The bottom support unit of the U-shaped shell opening unit (300) is connected to the tray (42) via waist-shaped hole bolts, so that the suction position of the suction cup can be adjusted according to the actual situation on site.

Images